Merge pull request #11 from husarion/readme_update

api update

README.md

@@ -9,7 +9,7 @@ ______  _____  _____  _             _           __
 | |\ \ \ \_/ //\__/ /| |_) || (_) || |_       | |   \ V  V /
 \_| \_| \___/ \____/ |_.__/  \___/  \__|      |_|    \_/\_/
 ```
-**Firmware version:** `0.3.1`
+**Firmware version:** `0.3.2`
 
 ## Prerequisites
 You need to install following tools:

ROS_API.md

@@ -1,62 +1,65 @@
-## ROS2 API
-### Subscribes
-- `/cmd_ser` (*std_msgs/msg/UInt32MultiArray[6]*, **/rosbot_stm32_firmware**)
-- `/led/left` (*std_msgs/msg/Bool*, **/rosbot_stm32_firmware**)
-- `/led/right` (*std_msgs/msg/Bool*, **/rosbot_stm32_firmware**)
-- `/_motors_cmd` (*std_msgs/msg/Float32MultiArray[4]*, **/rosbot_stm32_firmware**)
-
-### Publishes
-- `/_motors_response` (*sensor_msgs/msg/JointState*, **/rosbot_stm32_firmware**)
-- `/_imu/data_raw` (*sensor_msgs/msg/Imu*, **/rosbot_stm32_firmware**)
-- `/battery` (*sensor_msgs/BatteryState*, **/rosbot_stm32_firmware**)
-- `/range/right_front` (*sensor_msgs/msg/Range*, **/rosbot_stm32_firmware**)
-- `/range/left_front` (*sensor_msgs/msg/Range*, **/rosbot_stm32_firmware**)
-- `/range/right_rear` (*sensor_msgs/msg/Range*, **/rosbot_stm32_firmware**)
-- `/range/left_rear` (*sensor_msgs/msg/Range*, **/rosbot_stm32_firmware**)
-- `/button/left` (*std_msgs/msg/Bool*, **/rosbot_stm32_firmware**)
-- `/button/right` (*std_msgs/msg/Bool*, **/rosbot_stm32_firmware**)
-
-### Parameters
-- `servo_enable_power` (*Bool*, **/rosbot_stm32_firmware**)
-- `servo_voltage` (*Double*, **/rosbot_stm32_firmware**):
-    - `5.0`V
-    - `6.0`V
-    - `7.4`V
-    - `8.6`V
-- `servo[0...5]_enable` (*Bool*, **/rosbot_stm32_firmware**) e.g. `servo2_enable`
-- `servo[0...5]_period` (*UInt32*, **/rosbot_stm32_firmware**) e.g. `servo2_period`
-
-## Command line examples
-### Motors driving
+Use `micro_ros_agent` to communicate with all firmware functionalities.
 ```bash
-# Go forward
-ros2 topic pub /_motors_cmd std_msgs/msg/Float32MultiArray "data: [1.0, 1.0, 1.0, 1.0]"
+ros2 run micro_ros_agent micro_ros_agent serial -D $SERIAL_PORT serial -b 576000
 ```
+- `rosbot_ros2_firmware` it is a micro-ROS node on CORE2 inside ROSbot 2R, 2 PRO, 2. It is used to publish all the sensor data such as wheels positions, IMU measurements, battery level and buttons states from firmware to ROS2 and also to subscribe command values such as motors speeds, servos periods, servos parameters and LEDs states.
+    **Subscribes**
+    - `/cmd_ser` (_std_msgs/msg/UInt32MultiArray[6]_)
+    - `/led/left` (_std_msgs/msg/Bool_)
+    - `/led/right` (_std_msgs/msg/Bool_)
+    - `/_motors_cmd` (_std_msgs/msg/Float32MultiArray[4]_)
 
-### Servos steering
-```bash
-# Choose power supply voltage for the servos e.g. 5.0V
-ros2 param set /rosbot_stm32_firmware servo_voltage 5.0
+    **Publishes**
+    - `/_motors_response` (_*sensor_msgs/msg/JointState_)
+    - `/_imu/data_raw` (_sensor_msgs/msg/Imu_)
+    - `/battery` (_sensor_msgs/BatteryState_)
+    - `/range/right_front` (_sensor_msgs/msg/Range_)
+    - `/range/left_front` (_sensor_msgs/msg/Range_)
+    - `/range/right_rear` (_sensor_msgs/msg/Range_)
+    - `/range/left_rear` (_sensor_msgs/msg/Range_)
+    - `/button/left` (_std_msgs/msg/Bool_)
+    - `/button/right` (_std_msgs/msg/Bool_)
 
-# Enable power for the servos
-ros2 param set /rosbot_stm32_firmware servo_enable_power true
+    **Parameters**
+    - `servo_enable_power` (_Bool_)
+    - `servo_voltage` (_Double_):
+        - `5.0`V
+        - `6.0`V
+        - `7.4`V
+        - `8.6`V
+    - `servo[0...5]_enable` (*Bool_) e.g. `servo2_enable`
+    - `servo[0...5]_period` (*UInt32_) e.g. `servo2_period`
 
-# Set the control period in microseconds e.g. 20 000us for the servo5
-ros2 param set /rosbot_stm32_firmware servo5_period 20000
+#### Command line examples
+- **Motors driving (e.g. go forward)**
+    ```bash
+    ros2 topic pub /_motors_cmd std_msgs/msg/Float32MultiArray "data: [1.0, 1.0, 1.0, 1.0]"
+    ```
 
-# Enable PWM output for the servo e.g. for the servo5
-ros2 param set /rosbot_stm32_firmware servo5_enable true
+- **Servos steering**
+    ```bash
+    # Choose power supply voltage for the servos e.g. 5.0V
+    ros2 param set /rosbot_stm32_firmware servo_voltage 5.0
 
-# Send duty cycle to the servos
-ros2 topic  pub /cmd_ser std_msgs/msg/UInt32MultiArray "data: [0, 0, 0, 0, 0, 2000]"
+    # Enable power for the servos
+    ros2 param set /rosbot_stm32_firmware servo_enable_power true
 
-```
+    # Set the control period in microseconds e.g. 20 000us for the servo5
+    ros2 param set /rosbot_stm32_firmware servo5_period 20000
 
-### LED blinking
-```bash
-# Turn on the left LED
-ros2 topic pub /led/left std_msgs/msg/Bool "data: true"
+    # Enable PWM output for the servo e.g. for the servo5
+    ros2 param set /rosbot_stm32_firmware servo5_enable true
+
+    # Send duty cycle to the servos
+    ros2 topic  pub /cmd_ser std_msgs/msg/UInt32MultiArray "data: [0, 0, 0, 0, 0, 2000]"
+
+    ```
+
+-   **LED blinking**
+    ```bash
+    # Turn on the left LED
+    ros2 topic pub /led/left std_msgs/msg/Bool "data: true"
 
-# Turn off the left LED
-ros2 topic pub /led/left std_msgs/msg/Bool "data: false"
-```
+    # Turn off the left LED
+    ros2 topic pub /led/left std_msgs/msg/Bool "data: false"
+    ```

include/microros.hpp

@@ -17,7 +17,7 @@
 #include <microros_transport/mbed_serial_transport.hpp>
 #include <rclc_parameter/rclc_parameter.h>
 
-constexpr const char *NODE_NAME = "rosbot_stm32_firmware";
+constexpr const char *NODE_NAME = "rosbot_ros2_firmware";
 constexpr const char *IMU_TOPIC_NAME = "_imu/data_raw";
 constexpr const char *WHEELS_STATE_TOPIC_NAME = "_motors_response";
 constexpr const char *BATTERY_TOPIC_NAME = "battery";